Topic
Parallel parking
About: Parallel parking is a research topic. Over the lifetime, 581 publications have been published within this topic receiving 6503 citations.
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TL;DR: The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle, and computer simulations confirm the effectiveness of the proposed tracking control law.
Abstract: The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can simultaneously solve both the tracking and regulation problems of a unicycle-modeled mobile robot. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem are solved using the proposed controller. Computer simulations are presented which confirm the effectiveness of the proposed tracking control law. Practical experimental results validate the simulations.
396 citations
TL;DR: The proposed scheme involves three steps: generate a path off-line using a path space iterative algorithm, linearize the kinematic model about a trajectory which is constructed using the path, and apply a time-varying linear quadratic regulator to track the trajectory.
Abstract: This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using a path space iterative algorithm; 2) linearize the kinematic model about a trajectory which is constructed using the path; and 3) apply a time-varying linear quadratic regulator to track the trajectory. Experiments presented include parallel parking a car, docking a tractor-trailer vehicle, and parallel parking a double tractor-trailer vehicle.
206 citations
Patent•
30 Oct 2002TL;DR: In this article, a back camera image from a rear portion of a vehicle body is displayed on a display mounted on the console inside the vehicle cabin when the vehicle is parallel parking, and guidance images may be overlaid upon the camera images during some or all of the parallel parking maneuver.
Abstract: A back camera image from a back camera mounted on a rear portion of a vehicle body is displayed on a display mounted on the console inside the vehicle cabin when the vehicle is parallel parking. After the vehicle passes a steering direction reversal point in this state, a corner camera image from a corner camera mounted on a corner portion of a front portion of the vehicle body is displayed on the display when the vehicle nears a vehicle parked in front, or, more specifically, when an angle of the vehicle after it has reached the steering direction reversal point has reached a predetermined value. Guidance images may be overlaid upon the camera images during some or all of the parallel parking maneuver.
193 citations
Patent•
05 Apr 1988TL;DR: In this article, a microcomputer is used to assist a driver to make parallel parking or a perpendicular parking, which comprises displacement-sensing devices to measure specific distance that the car moves, obstacle-sensors for sensing the position of obstacles around a car, and a micro computer that can, in accordance with the driver's instructions and the data received from the displacement sensors and obstacle sensors, generate various signals to tell the driver to drive the car forwards, stop the car, turn the car left or right, or back the car so as to park the car along a
Abstract: A device to be mounted on a car for assisting a driver to make a parallel parking or a perpendicular parking, comprises displacement-sensing devices to measure specific distance that the car moves, obstacle-sensing devices for sensing the position of obstacles around a car, and a microcomputer that can, in accordance with the driver's instructions and the data received from aforesaid displacement-sensing devices and obstacle-sensing devices, generate various signals to tell the driver to drive the car forwards, to stop the car, to turn the car left or right, or to back the car so as to park the car along a specific path, further more, the microcomputer may generate an output signal to control the steering mechanism the transmission, the accelerator, and the brake system for backing the car into a parking space automatically.
162 citations
01 Jul 2003
TL;DR: This paper proposes two FGPC methods and two FPPC methods to back-drive or head-in the CLMR to the garage and the parking lot, respectively and demonstrates the feasibility and effectiveness of the proposed schemes.
Abstract: This paper is devoted to design and implement a car-like mobile robot (CLMR) that possesses autonomous garage-parking and parallel-parking capability by using real-time image processing. For fuzzy garage-parking control (FGPC) and fuzzy parallel-parking control (FPPC), feasible reference trajectories are provided for the fuzzy logic controller to maneuver the steering angle of the CLMR. We propose two FGPC methods and two FPPC methods to back-drive or head-in the CLMR to the garage and the parking lot, respectively. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the parking system developed in this paper is composed of a host computer, a communication module, a CLMR, and a vision system. Finally, the image-based real-time implementation experiments of the CLMR demonstrate the feasibility and effectiveness of the proposed schemes.
154 citations